Multiobective motion planning for a nonholonic vehicle

Multiobective motion planning for a nonholonic vehicle

A technique is proposed for integrating a probabilistic graph construction algorithm with an evolutionary multiobjective optimizer. A hybrid planner (EvoVBPR) for nonholonic robotic vehicle is presented. It integrates a probabilistic roadmap construction method (VBPR) with the SPEA2 evolutionary mul...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Spais, V.A., Petrou, L.P.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Automotive engineering
Encoding
Genetic mutations
Guidelines
Kinematics
Motion planning
Path planning
Road vehicles
Robots
Stochastic processes
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Beschreibung
Zusammenfassung:A technique is proposed for integrating a probabilistic graph construction algorithm with an evolutionary multiobjective optimizer. A hybrid planner (EvoVBPR) for nonholonic robotic vehicle is presented. It integrates a probabilistic roadmap construction method (VBPR) with the SPEA2 evolutionary multiobjective algorithm and an additional deterministic graph pruning step. The result is a Pareto set of roadmaps that represent different tradeoffs between length of path and obstacle clearance.
DOI:10.1109/CEC.2003.1299926